A writing robot

Abstract

The utility model provides a kind of writing souvenir robot, comprising: machine table, upper portion is equipped with paper outlet and paper recycling port;Robot body is set on the machine table, including first mechanical arm and second mechanical arm, the first mechanical arm is used to execute writing action, the second mechanical arm is used to execute paper taking and placing action;Automatic paper feeding module is set in the machine table interior, for storing and conveying paper to paper outlet by batch;Man-machine interface is set on the outer wall of the machine table, for receiving the writing content input by user;Control module is electrically connected with the first mechanical arm, second mechanical arm, automatic paper feeding module and man-machine interface, for controlling each module to complete paper feeding, writing and paper taking action in coordination. Through the above-mentioned mode, complete a full-automatic process from automatic paper feeding to writing to taking away, and the degree of automation is high.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a writing robot for leaving a memento. Background Technology

[0002] Existing writing robots typically consist of industrial robotic arms or high-precision motion modules, with their core function being automated writing. However, in practical applications, especially for interactive experiences and exhibitions, they have significant shortcomings. First, their mechanical structures and appearances often employ exposed metal frames or industrial design language, resulting in a cold and rigid look that lacks approachability and fun, failing to attract the interactive interest of viewers, especially children, and clashing with the warm and memorable atmosphere of the application scenario. Second, their level of automation is limited. Most devices stop working after completing a single writing session, requiring manual intervention for paper replacement, positioning, and removal of the finished product. They cannot achieve a complete, continuous process of "selecting content - automatic paper dispensing - writing - removing the finished product," greatly limiting the device's autonomy and user experience. Utility Model Content

[0003] To address the aforementioned problems, this utility model proposes a simple, fully automatic paper-fed and paper-picking robot for writing and keeping mementos.

[0004] The main contents of this utility model include: a machine base, the upper part of which is provided with a paper outlet and a paper recycling outlet; The robot body is set on the machine platform and includes a first robotic arm and a second robotic arm. The first robotic arm is used to perform writing actions, and the second robotic arm is used to perform paper picking and placing actions. An automatic paper feeding module is installed inside the machine and is used to store and feed sheets of paper one by one to the paper outlet. A human-computer interaction interface is set on the outer wall of the machine and is used to receive the written content input by the user; The control module is electrically connected to the first robotic arm, the second robotic arm, the automatic paper feeding module, and the human-machine interface, and is used to control the modules to coordinate the paper feeding, writing, and paper picking actions.

[0005] Preferably, both the first and second robotic arms include a multi-joint robotic arm structure and an actuator disposed at its end; The actuator of the first robotic arm is configured as a writing tool; The actuator of the second robotic arm is configured as a paper-picking suction cup.

[0006] Preferably, the multi-joint robotic arm structure includes: The boom is driven to rotate by the boom drive component; The forearm is rotatably connected to the end of the upper arm and is driven to rotate by the forearm drive component. A wrist actuator is connected to the end of the forearm, and the actuator is disposed at the output end of the wrist actuator.

[0007] Preferably, the automatic paper feeding module includes a feeding component, a transferring component, and a feeding component. The feeding component is used to store and separate the paper sheet by sheet. The transferring component is used to transfer the paper separated by the feeding component to the feeding component. The feeding component is used to receive the separated paper and transfer it to the outlet for writing.

[0008] Preferably, the feeding assembly includes a feeding platform and a plurality of conveying rollers, wherein a portion of the conveying rollers protrudes from the upper surface of the feeding platform for conveying paper; The feeding platform is provided with a feeding area and a separation area. A partition is provided between the feeding area and the separation area. The lower end of the partition and the feeding platform form a gap that allows only a single sheet of paper to pass through. Several cooperating rollers are arranged above the separation zone. The rotation direction of the cooperating rollers is opposite to that of the conveying rollers, and they are used to work together with the conveying rollers to achieve paper separation and conveying.

[0009] Preferably, a paper detection sensor is provided at the end of the conveying section of the separation zone to detect whether separated paper has been conveyed into place.

[0010] Preferably, the transfer assembly includes paper-grabbing claws for holding the upper and lower surfaces of the paper and a first transverse drive module for driving the paper-grabbing claws to move along the paper conveying direction.

[0011] Preferably, the transfer assembly further includes a limiting plate disposed on both sides of the paper-picking gripper to limit the lateral position of the paper.

[0012] Preferably, the feeding assembly includes a paper platform for receiving paper and a first lifting drive module for vertically lifting the paper platform.

[0013] Preferably, the robot body is in the shape of a cartoon human, and the first and second robotic arms respectively simulate the structure of the left and right arms of a human body.

[0014] The beneficial effects of this invention are as follows: By integrating an automatic paper feeding module, dual robotic arms working collaboratively, and an intelligent control system, this invention achieves seamless integration of the entire process, from user input commands, automatic feeding of single sheets of paper, precise positioning, robotic writing, to the final automatic removal of the finished product. The entire process requires no human intervention, greatly improving the autonomy and efficiency of the equipment. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural schematic diagram of a preferred embodiment; Figure 2This is a three-dimensional structural diagram of the first robotic arm in a preferred embodiment; Figure 3 This is a three-dimensional structural diagram of the automatic paper feeding module in a preferred embodiment; Figure label: 1. Machine base; 11. Paper output port; 12. Paper recycling port; 2. Robot body; 21. First robotic arm; 22. Second robotic arm; 211. Upper arm; 212. Upper arm drive component; 213. Forearm; 214. Forearm drive component; 215. Wrist drive component; 216. Actuator; 3. Automatic paper feeding module; 31. Feeding assembly; 311. Feeding platform; 312. Conveying roller; 313. Divider plate; 314. Matching roller; 315. Paper detection sensor; 32. Transfer assembly; 321. Paper gripper; 322. First transverse drive module; 323. Limiting plate; 33. Feeding assembly; 331. Paper platform; 332. First lifting drive module; 4. Human-computer interaction interface. Detailed Implementation

[0016] The technical solution protected by this utility model will be described in detail below with reference to the accompanying drawings.

[0017] like Figure 1-3 As shown, this application proposes a writing-for-souvenir robot, which includes a machine base 1, a robot body 2, an automatic paper feeding module 3, a human-computer interaction interface 4, and a control module. The robot body is installed on top of the machine base, which has a paper output port and a paper recycling port. The automatic paper feeding module 3 feeds a sheet of paper to the paper output port, where the robot body performs the writing action. After writing is completed, the written paper is sent to the paper recycling port for recycling.

[0018] The robot body 2 is designed in the shape of a cartoon human, which greatly enhances the device's friendliness and fun, making it particularly suitable for public places such as exhibitions and scenic spots that need to attract interaction and create a warm and memorable atmosphere.

[0019] like Figure 1-2 As shown, the robot body 2 includes a first robotic arm 21 and a second robotic arm 22, which respectively simulate the left and right arms of a human body. The first robotic arm 21 is used to perform writing actions, and the second robotic arm 22 is used to perform paper picking and placing actions. Both the first robotic arm 21 and the second robotic arm 22 include a multi-joint robotic arm structure and an actuator 216 disposed at its end.

[0020] like Figure 1-2 As shown, taking the first robotic arm 21 as an example (e.g.) Figure 2As shown, the multi-joint robotic arm structure includes an upper arm 211, an upper arm drive 212, a forearm 213, a forearm drive 214, and a wrist drive 215. The upper arm 211 is driven to rotate by the upper arm drive 212. The forearm 213 is rotatably connected to the end of the upper arm 211 and is driven to rotate by the forearm drive 214. The wrist drive 215 is connected to the end of the forearm 213. An actuator 216 is located at the output end of the wrist drive 215 and is driven by the wrist drive 215 to perform specific actions. Correspondingly, the actuator 216 of the first robotic arm 21 is configured as a writing tool, such as a pen. The actuator 216 of the second robotic arm 22 is configured as a paper-grabbing suction cup, which picks up paper through negative pressure suction, maintaining stable movement and preventing bending or damage to the paper. By mimicking the human arm, the robotic arm has multiple degrees of freedom, flexible movement, and can accurately complete complex writing strokes and paper-grabbing paths. In a specific embodiment, the upper arm drive component 212, the forearm drive component 214, and the wrist drive component 215 may be servo motors, etc.

[0021] like Figure 1-3 As shown, the automatic paper feeding module 3 is located inside the machine 1 and is used for the storage, separation, conveying and positioning of paper. It includes a feeding component 31, a transfer component 32 and a feeding component 33. The feeding component 31 is used to store and separate the paper sheet by sheet. The transfer component 32 is used to transfer the paper separated by the feeding component 31 to the feeding component 33. The feeding component 33 is used to receive the separated paper and convey it to the paper outlet 11 of the machine 1.

[0022] like Figure 1-3 As shown, the feeding assembly 31 includes a feeding platform 311, which is divided into a feeding zone and a separation zone along the paper conveying direction. The feeding zone is used to stack a pile of blank papers. The feeding platform 311 is equipped with several motor-driven conveying rollers 312. A portion of the top of each conveying roller 312 protrudes from the surface of the feeding platform 311, causing the bottom layer of paper to move towards the separation zone via friction. A partition plate 313 is provided between the feeding zone and the separation zone. The gap between the lower end of the partition plate 313 and the feeding platform 311 allows only a single sheet of paper to pass through, thus initially preventing multiple sheets of paper from entering the separation zone simultaneously. Above the separation zone, several mating rollers 314 are correspondingly arranged above the conveying rollers 312. The mating rollers 314 are driven by a motor to rotate in the opposite direction to the conveying rollers 312. The gap between them is also set to allow only a single sheet of paper to pass through.

[0023] Preferably, the conveying end of the separation zone is equipped with a paper detection sensor 315 to detect whether separated paper has been conveyed into place.

[0024] like Figure 1-3As shown, the transfer assembly 32 is located on one side of the output end of the feeding assembly 31. It includes a paper-grabbing gripper 321 and a first transverse drive module 322 that drives the paper-grabbing gripper 321 to move along the paper conveying direction. The paper-grabbing gripper 321 can grip the upper and lower surfaces of the separated single sheet of paper (the paper is relatively stiff). Preferably, limit plates 323 are also provided on both sides of the paper-grabbing gripper 321 to limit the left and right sides of the paper during gripping, ensuring that the gripping position is consistent each time, thereby ensuring the positioning accuracy of subsequent transfer and writing. In a specific embodiment, the first transverse drive module 322 can be a lead screw module, a synchronous belt module, etc.

[0025] like Figure 1-3 As shown, the feeding assembly 33 is located below the paper outlet 11. It includes a paper platform 331 for ultimately receiving the paper and a first lifting drive module 332 for driving the platform to move vertically up and down. When the feeding assembly 32 moves the paper above the paper platform 331, the first lifting drive module 332 raises the platform to a suitable height to receive the paper. Then, the feeding assembly 32 moves away from the paper platform 331, and the paper platform 331 rises to the position of the paper outlet 11, flush with the table surface of the machine tool 1, for the robotic arm to write on.

[0026] The preferred human-computer interaction interface 4 is a touch screen integrated on the front side of the machine, which allows users to directly input and select the text to be written.

[0027] The control module is electrically connected to the first robotic arm 21, the second robotic arm 22, the automatic paper feeding module 3, and the human-machine interface 4, and is used to control each module to coordinate the paper feeding, writing, and paper picking actions.

[0028] Working principle: The user inputs the desired text content through the human-computer interaction interface 4 and issues a start command. After receiving the command, the control module coordinates the automatic paper feeding module 3 to deliver a sheet of paper to the paper output port 11. Then, it controls the first robotic arm 21 of the robot body 2 to drive the writing tool to write. After writing is completed, it controls the second robotic arm 22 to use a vacuum suction cup to remove the written paper and place it in the paper recycling port 12, thus completing a fully automatic process from automatic paper output to writing to removal.

[0029] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A writing-for-memory robot, characterized in that, Mainly includes: The machine (1) has a paper outlet (11) and a paper recycling outlet (12) on its upper part. The robot body (2) is set on the machine platform (1) and includes a first robotic arm (21) and a second robotic arm (22). The first robotic arm (21) is used to perform writing actions, and the second robotic arm (22) is used to perform paper picking and placing actions. An automatic paper feeding module (3) is installed inside the machine (1) to store and feed paper to the paper outlet (11) one sheet at a time. The human-computer interaction interface (4) is set on the outer wall of the machine (1) and is used to receive the writing content input by the user; The control module is electrically connected to the first robotic arm (21), the second robotic arm (22), the automatic paper feeding module (3), and the human-machine interface (4), and is used to control each module to coordinate the paper feeding, writing and paper picking actions.

2. The writing-for-memory robot according to claim 1, characterized in that, The first robotic arm (21) and the second robotic arm (22) both include a multi-joint robotic arm structure and an actuator (216) disposed at its end. The actuator (216) of the first robotic arm (21) is configured as a writing tool; The actuator (216) of the second robotic arm (22) is configured as a paper-picking suction cup.

3. The writing-for-memory robot according to claim 2, characterized in that, The multi-joint robotic arm structure includes: The boom (211) is driven to rotate by the boom drive component (212); The forearm (213) is rotatably connected to the end of the upper arm (211) and is driven to rotate by the forearm drive component (214); A wrist drive (215) is connected to the end of the forearm (213), and an actuator (216) is disposed at the output end of the wrist drive (215).

4. The writing-for-memory robot according to claim 1, characterized in that, The automatic paper feeding module (3) includes a feeding component (31), a transfer component (32), and a feeding component (33). The feeding component (31) is used to store and separate the paper sheet by sheet. The transfer component (32) is used to transfer the paper separated by the feeding component (31) to the feeding component (33). The feeding component (33) is used to receive the separated paper and transfer it to the paper outlet (11) for writing.

5. The writing-for-memory robot according to claim 4, characterized in that, The feeding assembly (31) includes a feeding platform (311) and a plurality of conveying rollers (312), wherein a portion of the conveying rollers (312) protrudes from the upper surface of the feeding platform (311) for conveying paper; The feeding table (311) is provided with a feeding area and a separation area. A partition plate (313) is provided between the feeding area and the separation area. The lower end of the partition plate (313) and the feeding table (311) form a gap that allows only a single sheet of paper to pass through. Several cooperating rollers (314) are provided above the separation zone. The rotation direction of the cooperating rollers (314) is opposite to that of the conveying rollers (312), and they are used to cooperate with the conveying rollers (312) to realize the separation and conveying of paper.

6. The writing-for-memory robot according to claim 5, characterized in that, A paper detection sensor (315) is provided at the end of the conveying section of the separation zone to detect whether separated paper has been conveyed to the correct position.

7. The writing-for-memory robot according to claim 4, characterized in that, The transfer assembly (32) includes paper-grabbing claws (321) for holding the upper and lower surfaces of the paper and a first transverse drive module (322) for driving the paper-grabbing claws (321) to move along the paper conveying direction.

8. The writing-for-memory robot according to claim 7, characterized in that, The transfer assembly (32) also includes limiting plates (323) disposed on both sides of the paper-taking gripper (321) for limiting the lateral position of the paper.

9. The writing-for-memory robot according to claim 4, characterized in that, The feeding assembly (33) includes a paper platform (331) for receiving paper and a first lifting drive module (332) for driving the paper platform (331) to rise and fall vertically.

10. The writing-for-memory robot according to claim 1, characterized in that, The robot body (2) is in the shape of a cartoon human, and the first mechanical arm (21) and the second mechanical arm (22) respectively simulate the structure of the left and right arms of the human body.

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